A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
A novel approach to design Internal Model Controller(IMC)is proposed in this paper directly from measuredinput and output plant data,which are assumed to becontaminated by measurement noise.In order to avoidthe compli...A novel approach to design Internal Model Controller(IMC)is proposed in this paper directly from measuredinput and output plant data,which are assumed to becontaminated by measurement noise.In order to avoidthe complicated structure-identification problem inmost cases,two Finite Impulse Response(FIR)modelsare taken to represent the plant model and the internalmodel controller respectively.Taking account of mea-surement noise both in the plant input and its output,anESD based Total Least Squares(TLS)solution is appliedfor the unbiased identification of the plant model and itsinverse model,the latter constitutes the internal modelcontroller according to the principle that the internalmodel controller approximates the inverse dynamics ofthe plant model.Simulations are given for a testifica-tion.展开更多
Multi-stage hydraulic fracturing of horizontal wells is the main stimulation method in recovering gas from tight shale gas reservoirs, and stage spacing deter- mination is one of the key issues in fracturing design. T...Multi-stage hydraulic fracturing of horizontal wells is the main stimulation method in recovering gas from tight shale gas reservoirs, and stage spacing deter- mination is one of the key issues in fracturing design. The initiation and propagation of hydraulic fractures will cause stress redistribution and may activate natural fractures in the reservoir. Due to the limitation of the analytical method in calculation of induced stresses, we propose a numerical method, which incorporates the interaction of hydraulic fractures and the wellbore, and analyzes the stress distri- bution in the reservoir under different stage spacing. Simulation results indicate the following： （1） The induced stress was overestimated from the analytical method because it did not take into account the interaction between hydraulic fractures and the horizontal wellbore. （2） The hydraulic fracture had a considerable effect on the redis- tribution of stresses in the direction of the horizontal wellbore in the reservoir. The stress in the direction per- pendicular to the horizontal wellbore after hydraulic frac- turing had a minor change compared with the original in situ stress. （3） Stress interferences among fractures were greatly connected with the stage spacing and the distance from the wellbore. When the fracture length was 200 m, and the stage spacing was 50 m, the stress redistribution due to stage fracturing may divert the original stress pat- tern, which might activate natural fractures so as to generate a complex fracture network.展开更多
Space debris is a major problem for all the nations that are currently active in space. Adopting high-precision measuring techniques will help produce a reliable and accurate catalog for space debris and collision avo...Space debris is a major problem for all the nations that are currently active in space. Adopting high-precision measuring techniques will help produce a reliable and accurate catalog for space debris and collision avoidance. Laser ranging is a kind of real-time measuring technology with high precision for space debris observation. The first space-debris laser-ranging experiment in China was performed at the Shanghai Observatory in July 2008 with a ranging precision of about 60-80 cm. The experi- mental results showed that the return signals from the targets with a range of 900 km were quite strong, with a power of 40W （2J at 20 Hz） using a 10ns pulse width laser at 532 nm wavelength. The performance of the preliminary laser ranging system and the observed results in 2008 and 2010 are also introduced.展开更多
Kizmaz [13] studied the difference sequence spaces ∞（A）, c（A）, and co（A）. Several article dealt with the sets of sequences of m-th order difference of which are bounded, convergent, or convergent to zero. Alta...Kizmaz [13] studied the difference sequence spaces ∞（A）, c（A）, and co（A）. Several article dealt with the sets of sequences of m-th order difference of which are bounded, convergent, or convergent to zero. Altay and Basar [5] and Altay, Basar, and Mursaleen [7] introduced the Euler sequence spaces e0^r, ec^r, and e∞^r, respectively. The main purpose of this article is to introduce the spaces e0^r△^（m））, ec^r△^（m））, and e∞^r△^（m））consisting of all sequences whose mth order differences are in the Euler spaces e0^r, ec^r, and e∞^r, respectively. Moreover, the authors give some topological properties and inclusion relations, and determine the α-, β-, and γ-duals of the spaces e0^r△^（m））, ec^r△^（m））, and e∞^r△^（m））, and the Schauder basis of the spaces e0^r△^（m））, ec^r△^（m））. The last section of the article is devoted to the characterization of some matrix mappings on the sequence space ec^r△^（m））.展开更多
Our understanding of Titan, Saturn＇s largest satellite, has recently been considerably enhanced, thanks to the Cassini-Huygens mission. Since the Saturn Orbit Injection in July 2004, the probe has been harvesting new...Our understanding of Titan, Saturn＇s largest satellite, has recently been considerably enhanced, thanks to the Cassini-Huygens mission. Since the Saturn Orbit Injection in July 2004, the probe has been harvesting new insights of the Kronian system. In particular, this mission orchestrated a climax on January 14, 2005 with the descent of the Huygens probe into Titan＇s thick atmosphere. The orbiter and the lander have provided us with picturesque views of extraterrestrial landscapes, new in composition but reassuringly Earth-like in shape. Thus, Saturn＇s largest satellite displays chains of mountains, fields of dark and damp dunes, lakes and possibly geologic activity. As on Earth, landscapes on Titan are eroded and modeled by some alien hydrology： dendritic systems, hydrocarbon lakes, and methane clouds imply periods of heavy rainfalls, even though rain was never observed directly. Titan＇s surface also proved to be geologically active - today or in the recent past - given the small number of impact craters listed to date, as well as a few possible cryovolcanic features. We attempt hereafter a synthesis of the most significant results of the Cassini-Huygens endeavor, with emphasis on the surface.展开更多
In this article, using generalized weighted mean and difference matrix of order m, we introduce the paranormed sequence space l（u, v, p; △（m））, which consist of the sequences whose generalized weighted △（m）-di...In this article, using generalized weighted mean and difference matrix of order m, we introduce the paranormed sequence space l（u, v, p; △（m））, which consist of the sequences whose generalized weighted △（m）-difference means are in the linear space l（p） defined by I.J.Maddox. Also, we determine the basis of this space and compute its α-, β- and γ-duals. Further, we give the characterization of the classes of matrix mappings from l（u, v, p, △（m）） to l∞, c, and co. Finally, we apply the Hausdorff measure of noncompacness to characterize some classes of compact operators given by matrices on the space lp（U, v, △（m）） （1 ≤ p 〈 ∞）.展开更多
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
文摘A novel approach to design Internal Model Controller(IMC)is proposed in this paper directly from measuredinput and output plant data,which are assumed to becontaminated by measurement noise.In order to avoidthe complicated structure-identification problem inmost cases,two Finite Impulse Response(FIR)modelsare taken to represent the plant model and the internalmodel controller respectively.Taking account of mea-surement noise both in the plant input and its output,anESD based Total Least Squares(TLS)solution is appliedfor the unbiased identification of the plant model and itsinverse model,the latter constitutes the internal modelcontroller according to the principle that the internalmodel controller approximates the inverse dynamics ofthe plant model.Simulations are given for a testifica-tion.
基金supported by the Natural Science Foundation of China (Grant No. 51490653, Basic Theoretical Research of Shale Oil and Gas Effective Development)
文摘Multi-stage hydraulic fracturing of horizontal wells is the main stimulation method in recovering gas from tight shale gas reservoirs, and stage spacing deter- mination is one of the key issues in fracturing design. The initiation and propagation of hydraulic fractures will cause stress redistribution and may activate natural fractures in the reservoir. Due to the limitation of the analytical method in calculation of induced stresses, we propose a numerical method, which incorporates the interaction of hydraulic fractures and the wellbore, and analyzes the stress distri- bution in the reservoir under different stage spacing. Simulation results indicate the following： （1） The induced stress was overestimated from the analytical method because it did not take into account the interaction between hydraulic fractures and the horizontal wellbore. （2） The hydraulic fracture had a considerable effect on the redis- tribution of stresses in the direction of the horizontal wellbore in the reservoir. The stress in the direction per- pendicular to the horizontal wellbore after hydraulic frac- turing had a minor change compared with the original in situ stress. （3） Stress interferences among fractures were greatly connected with the stage spacing and the distance from the wellbore. When the fracture length was 200 m, and the stage spacing was 50 m, the stress redistribution due to stage fracturing may divert the original stress pat- tern, which might activate natural fractures so as to generate a complex fracture network.
基金supported by the Chinese Space Agency and the Instrument Developing Project of the Chinese Academy of Sciences (Grant No. 2920100701)
文摘Space debris is a major problem for all the nations that are currently active in space. Adopting high-precision measuring techniques will help produce a reliable and accurate catalog for space debris and collision avoidance. Laser ranging is a kind of real-time measuring technology with high precision for space debris observation. The first space-debris laser-ranging experiment in China was performed at the Shanghai Observatory in July 2008 with a ranging precision of about 60-80 cm. The experi- mental results showed that the return signals from the targets with a range of 900 km were quite strong, with a power of 40W （2J at 20 Hz） using a 10ns pulse width laser at 532 nm wavelength. The performance of the preliminary laser ranging system and the observed results in 2008 and 2010 are also introduced.
文摘Kizmaz [13] studied the difference sequence spaces ∞（A）, c（A）, and co（A）. Several article dealt with the sets of sequences of m-th order difference of which are bounded, convergent, or convergent to zero. Altay and Basar [5] and Altay, Basar, and Mursaleen [7] introduced the Euler sequence spaces e0^r, ec^r, and e∞^r, respectively. The main purpose of this article is to introduce the spaces e0^r△^（m））, ec^r△^（m））, and e∞^r△^（m））consisting of all sequences whose mth order differences are in the Euler spaces e0^r, ec^r, and e∞^r, respectively. Moreover, the authors give some topological properties and inclusion relations, and determine the α-, β-, and γ-duals of the spaces e0^r△^（m））, ec^r△^（m））, and e∞^r△^（m））, and the Schauder basis of the spaces e0^r△^（m））, ec^r△^（m））. The last section of the article is devoted to the characterization of some matrix mappings on the sequence space ec^r△^（m））.
文摘Our understanding of Titan, Saturn＇s largest satellite, has recently been considerably enhanced, thanks to the Cassini-Huygens mission. Since the Saturn Orbit Injection in July 2004, the probe has been harvesting new insights of the Kronian system. In particular, this mission orchestrated a climax on January 14, 2005 with the descent of the Huygens probe into Titan＇s thick atmosphere. The orbiter and the lander have provided us with picturesque views of extraterrestrial landscapes, new in composition but reassuringly Earth-like in shape. Thus, Saturn＇s largest satellite displays chains of mountains, fields of dark and damp dunes, lakes and possibly geologic activity. As on Earth, landscapes on Titan are eroded and modeled by some alien hydrology： dendritic systems, hydrocarbon lakes, and methane clouds imply periods of heavy rainfalls, even though rain was never observed directly. Titan＇s surface also proved to be geologically active - today or in the recent past - given the small number of impact craters listed to date, as well as a few possible cryovolcanic features. We attempt hereafter a synthesis of the most significant results of the Cassini-Huygens endeavor, with emphasis on the surface.
文摘In this article, using generalized weighted mean and difference matrix of order m, we introduce the paranormed sequence space l（u, v, p; △（m））, which consist of the sequences whose generalized weighted △（m）-difference means are in the linear space l（p） defined by I.J.Maddox. Also, we determine the basis of this space and compute its α-, β- and γ-duals. Further, we give the characterization of the classes of matrix mappings from l（u, v, p, △（m）） to l∞, c, and co. Finally, we apply the Hausdorff measure of noncompacness to characterize some classes of compact operators given by matrices on the space lp（U, v, △（m）） （1 ≤ p 〈 ∞）.
